Visual Place Recognition on MSLS Challenge
85.7Recall@1QAA
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| QAABackbone=DINOv2-B, Cd=81922025.07 | 85.7 | — | — | |
| QAABackbone=DINOv2-B, Cd=40962025.07 | 84.8 | — | — | |
| QAABackbone=DINOv2-B, Cd=20482025.07 | 84.2 | — | — | |
| SALAD CMBackbone=DINOv2-B, Cd=84482025.07 | 82.7 | — | — | |
| SALAD-CMVenue & Year=ECCV’242026.01 | 82.7 | 91.2 | 92.7 | |
| QAABackbone=DINOv2-B, Cd=10242025.07 | 82.1 | — | — | |
| Pair-VPR-pEnc. Size=ViT-G2024.10 | 81.7 | 90.2 | 91.3 | |
| DC-VLAQVenue & Year=-2026.01 | 81.7 | 92.2 | 94.5 | |
| Pair-VPRAttack=None2026.06 | 81.7 | 90.2 | — | |
| FoLAttack=None2026.06 | 80 | 90.9 | — | |
| A2GCAttack=None2026.06 | 79.7 | 90.2 | — | |
| BoQBackbone=DINOv2-B, Cd=122882025.07 | 79 | — | — | |
| EffoVPR-Rtwo-stage=true2024.05 | 79 | 89 | 91.6 | |
| Pair-VPR-sEnc. Size=ViT-B2024.10 | 79 | 86.9 | 88.3 | |
| BoQVenue & Year=CVPR’242026.01 | 79 | 90.3 | 92 | |
| FoL-globalVenue & Year=AAAI’252026.01 | 78.7 | 90.8 | 93 | |
| EDTFormerVenue & Year=TCSVT’252026.01 | 78.4 | 89.8 | 91.9 | |
| EffoVPR-GDimension=10242024.05 | 78.2 | — | — | |
| EffoVPR-GDimension=2562024.05 | 75.6 | — | — | |
| DINOv2 SALADDesc. size (Global)=8192 + 256, Desc. size (Local)=0.0, Memory (GB)=0.63, Latency (ms) Retrieval=2.41, Latency (ms) Reranking=0.02023.11 | 75 | 88.8 | 91.3 | |
| DINOv2 SALADDesc. size=8192 + 256, Latency (ms)=2.412023.11 | 75 | 88.8 | — | |
| SALADDimension=84482024.05 | 75 | — | — | |
| SALADtwo-stage=false2024.05 | 75 | 88.8 | 91.3 | |
| SALADEnc. Size=ViT-B2024.10 | 75 | 88.8 | 91.3 | |
| SALADVenue & Year=CVPR’242026.01 | 75 | 88.8 | 91.3 | |
| SALADAttack=None2026.06 | 75 | 88.8 | — | |
| SALADDim (d)=84482026.02 | 74.6 | 88.4 | 91 | |
| La-SALADDim (d)=+1024, Fusion=ADS+LLP, Text Backbone=BGE-L2026.02 | 74.6 | 88.8 | 91.2 | |
| SALADDim=8448, Language Augmentation=false2026.02 | 74.6 | 88.4 | 91 | |
| UniPR-3DDesc. size=17152, Latency (ms)=8.232025.12 | 74.3 | 87.5 | — | |
| La-SALADDim=+1024, Language Augmentation=true, Fusion=CAT Fusion2026.02 | 73.9 | 87.7 | 90.1 | |
| EffoVPR-GDimension=1282024.05 | 73.8 | — | — | |
| DINOv2 SALADDesc. size=2048 + 64, Latency (ms)=2.352023.11 | 73.7 | 85.9 | — | |
| SelaVPRStage=Two-stage2024.02 | 73.5 | 87.5 | 90.6 | |
| SelaVPRtwo-stage=true2024.05 | 73.5 | 87.5 | 90.6 | |
| SelaVPREnc. Size=ViT-L2024.10 | 73.5 | 87.5 | 90.6 | |
| SelaVPRVenue & Year=ICLR’242026.01 | 73.5 | 87.5 | 90.6 | |
| SelaVPRAttack=None2026.06 | 73.5 | 87.5 | — | |
| BoQDimension=163842024.05 | 73.3 | — | — | |
| BoQtwo-stage=false2024.05 | 73.3 | 82.9 | 86.2 | |
| R2FormerStage=Two-stage2024.02 | 73 | 85.9 | 88.8 | |
| R2FormerDesc. size (Global)=256, Desc. size (Local)=500 x 131, Memory (GB)=4.7, Latency (ms) Retrieval=8.88, Latency (ms) Reranking=202.372023.11 | 73 | 85.9 | 88.8 | |
| R2Formertwo-stage=true2024.05 | 73 | 85.9 | 88.8 | |
| R2FormerEnc. Size=ViT-S2024.10 | 73 | 85.9 | 88.8 | |
| DINOv2 SALADDesc. size=8192 + 256, Latency (ms)=2.412025.12 | 73 | 86.8 | — | |
| BoQEnc. Size=ResNet-502024.10 | 72.8 | 83.1 | 86.3 | |
| Pair-VPRAttack=LPQN-Hybrid2026.06 | 72.5 | 81.6 | — | |
| A2GCAttack=LPQN-Hybrid2026.06 | 72.2 | 85.7 | — | |
| DINOv2 SALADDesc. size=512 + 32, Latency (ms)=2.332023.11 | 70.8 | 83.6 | — | |
| FoLAttack=LPQN-Hybrid2026.06 | 70.3 | 84.3 | — | |
| La-CricaVPRDim (d)=+1024, Fusion=ADS+LLP, Text Backbone=BGE-L2026.02 | 70.2 | 82.1 | 86.1 | |
| CricaVPRDim (d)=107522026.02 | 69.8 | 82.2 | 85.4 | |
| CricaVPRDim=10752, Language Augmentation=false2026.02 | 69.8 | 82.2 | 85.4 | |
| SelaVPR(global)Stage=One-stage2024.02 | 69.6 | 86.9 | 90.1 | |
| SelaVPRDimension=1024, Stage=1st-stage performance2024.05 | 69.6 | — | — | |
| StructVPR-SP-SuperGlueRetrieval Setting=Re-ranking2022.12 | 69.4 | 81.5 | 85.6 | |
| StructVPRStage=Two-stage2024.02 | 69.4 | 81.5 | 85.6 | |
| CricaVPRFeature Dimension=40962024.02 | 69 | 82.1 | 85.7 | |
| CricaVPRDimension=40962024.05 | 69 | — | — | |
| CricaVPRtwo-stage=false2024.05 | 69 | 82.1 | 85.7 | |
| CricaVPRVenue & Year=CVPR’242026.01 | 69 | 82.1 | 85.7 | |
| CricaVPRAttack=None2026.06 | 69 | 82.1 | — | |
| PaVPR baselineEnc. Size=ViT-B2024.10 | 67.8 | 80.5 | 83.8 | |
| CosPlaceBackbone=ResNet-50, Cd=20482025.07 | 67.5 | — | — | |
| EigenPlaceBackbone=ResNet-50, Cd=20482025.07 | 67.4 | — | — | |
| EigenPlacesFeature Dimension=20482024.02 | 67.4 | 77.1 | 81.7 | |
| EigenPlacesDesc. size=2048, Latency (ms)=2.652023.11 | 67.4 | 77.1 | — | |
| EigenPlacesDimension=20482024.05 | 67.4 | — | — | |
| EigenPlacestwo-stage=false2024.05 | 67.4 | 77.1 | 81.7 | |
| EigenPlacesEnc. Size=ResNet-502024.10 | 67.4 | 77.1 | 81.7 | |
| EigenPlacesVenue & Year=ICCV’232026.01 | 67.4 | 77.1 | 81.7 | |
| EigenPlacesDesc. size=2048, Latency (ms)=2.652025.12 | 67.4 | 77.1 | — | |
| EigenPlacesAttack=None2026.06 | 67.4 | 77.1 | — | |
| CosPlaceDesc. size=2048, Latency (ms)=2.592023.11 | 67.2 | 78 | — | |
| La-CricaVPRDim=+1024, Language Augmentation=true, Fusion=CAT Fusion2026.02 | 67.2 | 81.7 | 85.8 | |
| CosPlaceDesc. size=2048, Latency (ms)=2.592025.12 | 67.2 | 78 | — | |
| CosPlaceEnc. Size=ResNet-502024.10 | 67 | 77.9 | 80.7 | |
| SALADAttack=LPQN-Hybrid2026.06 | 66.7 | 80.1 | — | |
| StructVPR-SP-RANSACRetrieval Setting=Re-ranking2022.12 | 65.5 | 76.3 | 81.3 | |
| La-MixVPRDim (d)=+1024, Fusion=ADS+LLP, Text Backbone=BGE-L2026.02 | 64.8 | 76.9 | 80.3 | |
| SelaVPRAttack=LPQN-Hybrid2026.06 | 64.8 | 75.7 | — | |
| StructVPRRetrieval Setting=Global retrieval2022.12 | 64.5 | 80.4 | 83.9 | |
| La-EigenPlaceDim=+1024, Language Augmentation=true, Fusion=CAT Fusion2026.02 | 64.2 | 75.5 | 79.1 | |
| MixVPRBackbone=ResNet-50, Cd=40962025.07 | 64 | — | — | |
| MixVPRStage=One-stage2024.02 | 64 | 75.9 | 80.6 | |
| MixVPRFeature Dimension=40962024.02 | 64 | 75.9 | 80.6 | |
| MixVPRDesc. size=4096, Latency (ms)=1.372023.11 | 64 | 75.9 | — | |
| MixVPRDimension=40962024.05 | 64 | — | — | |
| MixVPRtwo-stage=false2024.05 | 64 | 75.9 | 80.6 | |
| MixVPREnc. Size=ResNet-502024.10 | 64 | 75.9 | 80.6 | |
| La-MixVPRDim=+1024, Language Augmentation=true, Fusion=CAT Fusion, Base Backbone=MixVPR-40962026.02 | 64 | 76.3 | 81.1 | |
| MixVPRVenue & Year=WACV’232026.01 | 64 | 75.9 | 80.6 | |
| MixVPRDesc. size=4096, Latency (ms)=1.372025.12 | 64 | 75.9 | — | |
| MixVPRAttack=None2026.06 | 64 | 75.9 | — | |
| TransVPRRetrieval Setting=Re-ranking, Venue=CVPR 222022.12 | 63.9 | 74 | 77.5 | |
| TransVPRStage=Two-stage2024.02 | 63.9 | 74 | 77.5 | |
| TransVPRFeature Dimension=N/A2024.02 | 63.9 | 74 | 77.5 | |
| TransVPRDesc. size (Global)=256, Desc. size (Local)=1200 x 256, Memory (GB)=22.72, Latency (ms) Retrieval=6.27, Latency (ms) Reranking=1757.702023.11 | 63.9 | 74 | 77.5 | |
| TransVPRVenue & Year=CVPR’222026.01 | 63.9 | 74 | 77.5 | |
| TransVPRAttack=None2026.06 | 63.9 | 74 | — |